We did without a car for the first few weekend excursions. On our trip to Topeka from California we stopped for shopping before we set up camp. It worked just fine. When we got to Topeka for a weeklong dog show, we rented a car and used it pretty much every day. Our Prius couldn't be flat towed, and as long as I was working I didn't want a less efficient car.
Now retired, we traded the Prius for a Honda CRV, which is big enough for my dog agility equipment and crates. We were extremely glad we had it on our last trip to Eureka. Turning onto northbound 101, we were hit by a southbound car & trailer, shearing the front off our MH. It was towed to Eureka, and there it sits until the insurance company gives the go ahead for the body shop to fix it. We were able to transfer dogs, perishables, clothes, etc. into the toad and go on to Eureka. I really don't know what we would have done without it.